RobotVehicleMovementComponent.h

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#pragma once
 
 
 
// System
 
#include <random>
 
 
 
// UE
 
#include "CoreMinimal.h"
 
#include "GameFramework/PawnMovementComponent.h"
 
 
 
// RapyutaSimulationPlugins
 
#include "Sensors/RRBaseOdomComponent.h"
 
 
 
//Thirdparty
 
#include "filter.hpp"
 
 
 
#include "RobotVehicleMovementComponent.generated.h"
 
 
 
class ARRBaseRobot;
 
class URRFloatingMovementComponent;
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URobotVehicleMovementComponent : public UPawnMovementComponent
 
{
 
 
 
private:
 
    // For Elevator management
 
 
 
    AActor* MovingPlatform = nullptr;
 
 
 
 
    FVector LastPlatformLocation = FVector::ZeroVector;
 
 
 
 
    FQuat LastPlatformRotation = FQuat::Identity;
 
 
 
 
 
 
 
 
    TArray<USceneComponent*> ContactPoints;
 
 
 
public:
 
 
    ARRBaseRobot* OwnerVehicle = nullptr;
 
 
 
 
    TObjectPtr<URRFloatingMovementComponent> AIMovementComp = nullptr;
 
 
 
    void InitAIMovementComp();
 
 
 
    virtual void SetUpdatedComponent(USceneComponent* InNewUpdatedComponent) override;
 
 
 
 
 
    FVector AngularVelocity = FVector::ZeroVector;
 
 
 
 
 
 
 
    FVector DesiredMovement = FVector::ZeroVector;
 
 
 
 
 
    FQuat DesiredRotation = FQuat::Identity;
 
 
 
    // For slopes, complex floors, free fall
 
 
 
 
 
    float RayOffsetUp = 10.f;
 
 
 
 
 
 
    float RayOffsetDown = 20.f;
 
 
 
 
 
    bool bAdaptToSurfaceBelow = true;
 
 
 
    virtual void Initialize();
 
 
 
    virtual void InitVelFilters();
 
 
 
 
 
    int8 InversionFactor = 1;
 
 
 
    virtual void InitData();
 
 
 
 
    void SetMovingPlatform(AActor* platform);
 
 
 
 
    bool IsOnMovingPlatform();
 
 
 
 
    void RemoveMovingPlatform();
 
 
 
    // For slopes, complex floors, free fall
 
 
 
 
 
    float MinDistanceToFloor = 0.f;
 
 
 
 
 
    float FallingSpeed = 100.f;
 
 
 
 
 
    URRBaseOdomComponent* OdomComponent = nullptr;
 
 
 
 
 
    FVector LinearVelFilterTau = FVector::ZeroVector;
 
 
 
 
 
    FVector AngVelFilterTau = FVector::ZeroVector;
 
 
 
protected:
 
    virtual bool IsSupportedForNetworking() const override
 
    {
 
        return true;
 
    }
 
 
 
    virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
 
 
 
    virtual void UpdateMovement(float InDeltaTime);
 
 
 
 
 
    float LogLastHit = 0.f;
 
 
 
 
    TStaticArray<FirstOrderSystem, 3> LinearVelFilter;
 
 
 
 
    TStaticArray<FirstOrderSystem, 3> AngVelFilter;
 
};